A multi-directional laser welding machine

Abstract

The application belongs to the technical field of laser welding, and particularly relates to a multi-directional laser welding machine, which comprises a positioning unit, a double-drive gantry three-axis translation mechanism, a six-degree-of-freedom mechanical arm, a welding mechanism and a numerical control box; the positioning unit comprises a supporting base and a workpiece positioning mechanism, each group of the workpiece positioning mechanism is provided with at least three translational degrees of freedom, at least one rotational degree of freedom and at least one pitching swing degree of freedom, the top end of the workpiece positioning mechanism is provided with a plurality of groups of linear array distributed flexible supporting mechanisms and manual clamps; the double-end multi-degree-of-freedom collaborative architecture is adopted, and the workpiece with a complex curved surface, a special-shaped cavity and multi-surface welding is adapted; the flexible supporting mechanism of the processing table array is arranged to be self-adapting and telescopic through springs, and can be attached to the bottom surface of the workpiece with an irregular curved surface and a height difference structure; the two groups of workpiece positioning mechanisms are adapted to small precision parts and large long-size workpieces.

Description

Technical Field

[0001] This invention belongs to the field of laser welding technology, and specifically relates to a laser welding machine capable of multi-directional welding. Background Technology

[0002] Laser welding, with its advantages of small heat-affected zone, high welding precision, and high degree of automation, is widely used in high-end equipment manufacturing, automobiles, aerospace, steel structure processing and other fields.

[0003] There are already various multi-angle laser welding devices in the existing technology, such as:

[0004] Chinese patent CN119387840A discloses "a laser welding device that facilitates multi-angle welding". It uses an arc groove and a fixed frame structure to achieve angle adjustment. However, the adjustment dimension of this structure is limited, and it can only achieve angle swing in a single plane, which cannot meet the omnidirectional welding needs of complex multi-faceted workpieces.

[0005] Chinese patent CN112264704A discloses "an automatic positioning multi-angle fully automatic pipe laser welding machine", which realizes circumferential welding of pipes by driving the positioning plate with a rotating motor and screw. However, this equipment is only suitable for regular pipe workpieces and has poor adaptability to irregular structures and complex curved surface workpieces.

[0006] Chinese patent CN118699559A discloses a "multi-angle automatic laser welding machine" which uses X, Y, and Z axis slide rails and a turntable structure to achieve multi-angle welding. However, the welding adjustment of this equipment only relies on three-axis translation and single-axis rotation, which is not free enough. When facing multi-angle welds in space, the workpiece clamping posture still needs to be adjusted multiple times.

[0007] Chinese patent CN119237925A discloses a "laser welding machine with a laser beam multi-angle adjustment mechanism". The first angle adjustment mechanism and the second angle adjustment mechanism control the angle adjustment in the left and right and up and down directions respectively. However, the adjustment stroke and rotation range of the equipment are limited, and it cannot achieve omnidirectional welding in space. Special tooling needs to be changed for different shaped workpieces, resulting in low changeover efficiency.

[0008] Therefore, existing laser welding equipment generally suffers from the following significant defects: the adjustment dimensions and movement range of the welding actuator are limited, making it difficult to adapt to the welding needs of workpieces with different shapes, especially workpieces with complex curved surfaces, irregular structures or multi-faceted cavities. Existing equipment often requires multiple clamping or manual intervention, which affects welding efficiency and quality.

[0009] To address the aforementioned problems, this invention proposes a laser welding machine capable of multi-directional welding. Summary of the Invention

[0010] To address the aforementioned problems in the prior art, this invention provides a multi-directional laser welding machine, which is suitable for welding various workpieces of different shapes and features high welding precision.

[0011] To achieve the above objectives, the present invention provides the following technical solution: a multi-directional laser welding machine, comprising a positioning unit, a dual-drive gantry three-axis translation mechanism, a six-degree-of-freedom robotic arm, a welding mechanism, and a CNC box;

[0012] The positioning unit includes a support base and two sets of workpiece positioning mechanisms symmetrically arranged on the support base. Each set of workpiece positioning mechanisms has at least three translational degrees of freedom, at least one rotational degree of freedom, and at least one pitch and swing degree of freedom. The top of the workpiece positioning mechanism is provided with multiple sets of flexible support mechanisms and manual clamps arranged in a linear array.

[0013] The six-degree-of-freedom robotic arm is installed at the power output end of the dual-drive gantry three-axis translation mechanism and is used to complete the spatial translation and positioning of the welding station.

[0014] The welding mechanism is installed at the power output end of the six-degree-of-freedom robotic arm and is used to complete the six-degree-of-freedom adjustment of the welding posture;

[0015] The CNC box is electrically connected to the workpiece positioning mechanism, the dual-drive gantry three-axis translation mechanism, the six-degree-of-freedom robotic arm, and the welding mechanism.

[0016] As a preferred embodiment of the present invention, the flexible support mechanism includes a support pin, a flexible support head, a telescopic spring, and a first locking nut;

[0017] The support pin is slidably mounted on the processing table in the vertical direction, and the flexible support head is fixed to the top of the support pin.

[0018] A limit ring is fixed on the support pin, and the telescopic spring is sleeved on the outside of the support pin and located between the processing table and the limit ring;

[0019] The support pin is machined with external threads, and the first locking nut is threadedly installed on the lower end of the support pin.

[0020] As a preferred embodiment of the present invention, each group of workpiece positioning mechanisms includes a rotating platform, a processing table disposed above the rotating platform via a multi-directional pitch adjustment mechanism, a Y-axis drive mechanism, an X-axis drive mechanism, and a rotary drive mechanism.

[0021] The flexible support mechanism and manual clamps are mounted in a linear array on the processing table;

[0022] The Y-axis drive mechanism is mounted on the support base, the X-axis drive mechanism is mounted on the power output end of the Y-axis drive mechanism, and the rotary drive mechanism is mounted on the power output end of the X-axis drive mechanism.

[0023] The Y-axis drive mechanism and the X-axis drive mechanism are used to provide two orthogonal horizontal translational degrees of freedom for the rotating platform. The rotary drive mechanism is used to provide the rotary degree of freedom for the rotating platform about the vertical axis. The multi-directional pitch adjustment mechanism is used to provide the pitch swing degree of freedom for the machining table about the horizontal axis.

[0024] As a preferred embodiment of the present invention, the Y-axis driving mechanism includes a first moving stage, a first nut seat, a first motor frame, a first threaded screw, and a first servo motor;

[0025] A first nut seat is fixed at the center of the bottom surface of the first moving platform;

[0026] Two first motor frames are symmetrically fixed to the top of the support base, and the first threaded screw is rotatably installed between the two first motor frames and threadedly engaged with the first nut seat.

[0027] The first servo motor is fixed on the first motor frame and is used to drive the first threaded screw to rotate.

[0028] As a preferred embodiment of the present invention, the X-axis driving mechanism includes a second moving stage, a second nut seat, a second motor frame, a second threaded screw, and a second servo motor.

[0029] A second nut seat is fixed at the center of the bottom surface of the second moving platform;

[0030] Two second motor frames are symmetrically fixed to the top of the first moving platform, and the second threaded screw is rotatably installed between the two second motor frames and threadedly engaged with the second nut seat.

[0031] The second servo motor is fixed on the second motor frame and is used to drive the second threaded screw to rotate.

[0032] As a preferred embodiment of the present invention, the rotary drive mechanism includes an external gear ring, a third servo motor, and gears;

[0033] The rotating platform is rotatably mounted on the top surface of the second moving platform, and the external gear ring is coaxially fixed on the outer circumferential surface of the rotating platform;

[0034] The third servo motor is fixed to the top surface of the second moving platform, and the gear is coaxially fixed to the output shaft of the third servo motor and meshes with the external gear ring.

[0035] As a preferred embodiment of the present invention, the multi-directional pitch adjustment mechanism includes a servo electric cylinder and a ball joint.

[0036] At least three of the servo electric cylinders are evenly distributed circumferentially. The cylinder body of the servo electric cylinder is hinged to the rotating platform by a pin, and the piston rod is connected to the machining table by a ball joint.

[0037] As a preferred technical solution of the present invention, it further includes a linkage mechanism and a linkage component. The linkage mechanism includes a synchronous pulley and a synchronous belt, and the linkage component includes a first transmission rod, a universal joint, a second transmission rod, a square connecting rod, a bolt, and a second locking nut.

[0038] The first threaded screws of the two sets of workpiece positioning mechanisms have opposite thread directions, and the ends of the two first threaded screws are coaxially fixed with synchronous pulleys, and the synchronous belt is tensioned through the two synchronous pulleys;

[0039] The second threaded screws of the two sets of workpiece positioning mechanisms have opposite thread directions. One end of the first transmission rod is provided with a square connecting groove, and the other end is connected to the end of one of the second threaded screws through a universal joint.

[0040] One end of the second transmission rod is fixed with a square connecting rod that matches the square connecting groove, and the other end is connected to the end of another second threaded screw via a universal joint;

[0041] The first transmission rod is provided with a positioning hole, the square connecting rod is provided with a second oblong hole, the bolt passes through the positioning hole and the second oblong hole, and the second locking nut is threadedly installed on the protruding end of the bolt.

[0042] As a preferred embodiment of the present invention, the dual-drive gantry three-axis translation mechanism includes a gantry frame, an X-axis dual-drive linear module, a Y-axis linear module, and a Z-axis linear module;

[0043] The X-axis dual-drive linear module is fixed to the top of the gantry, the Y-axis linear module is fixed to the power output end of the X-axis dual-drive linear module, the Z-axis linear module is fixed to the power output end of the Y-axis module, and the six-degree-of-freedom robotic arm is fixed to the power output end of the Z-axis linear module.

[0044] As a preferred technical solution of the present invention, the welding mechanism includes a fixed frame, a laser head, a laser range sensor, an adjustable mounting plate, a vision camera, a ring light source, a limiting plate, and a third threaded screw;

[0045] The fixed frame is fixedly connected to the power output end of the six-degree-of-freedom robotic arm, the laser head is fixed on the fixed frame, and the laser range sensor is fixed on the outer shell of the laser head;

[0046] The adjustable mounting plate is mounted on the fixed frame and can slide vertically. The vision camera and the ring light source are both fixed on the adjustable mounting plate, and the ring light source is located on the shooting path of the vision camera.

[0047] The two limiting plates are fixed to the outer wall of the fixing frame at intervals, and the third threaded screw is rotatably installed between the two limiting plates, with a knob fixed at one end of the third threaded screw;

[0048] A third nut seat is fixed on the adjustable mounting plate, and the third nut seat is threadedly engaged with the third threaded screw.

[0049] As a preferred embodiment of the present invention, the manual clamp includes a fixed base, a handle, a clamp arm, a first oblong hole, a clamping plate, a threaded rod, a clamping nut, and an H-shaped connecting arm.

[0050] The fixed base is fixed to the processing table, and the bottom end of the handle is hinged to the fixed base by a pin.

[0051] One end of the clamp arm is hinged to the fixed base by a pin, and the clamp arm is provided with a first waist-shaped hole;

[0052] Two clamping plates are distributed in a clamping manner on the upper and lower sides of the clamp arm. The threaded rod passes through the two clamping plates and the first waist-shaped hole in a vertical direction, and a flexible pressure block is fixed at the bottom end of the threaded rod.

[0053] Both clamping plates have threaded nuts that are installed on the threaded rods on their outer sides.

[0054] One end of the H-shaped connecting arm is hinged to the handle by a pin, and the other end is hinged to the clamp arm by a pin.

[0055] As a preferred embodiment of the present invention, guide rails are fixed on the top surface of the support base, the top surface of the first moving platform, and the fixed frame, and guide sliders that slide in cooperation with the guide rails are fixed on the bottom surface of the first moving platform, the bottom surface of the second moving platform, and the adjustable mounting plate.

[0056] Compared with the prior art, the beneficial effects of the present invention are:

[0057] 1. Adopting a dual-end multi-degree-of-freedom collaborative architecture, it is suitable for workpieces with complex curved surfaces, irregular cavities, and multi-sided welding. All welds can be completed in just one clamping, avoiding the waste of time and accuracy errors caused by repeated disassembly and reassembly and multiple positioning, thus improving welding efficiency.

[0058] 2. The flexible support mechanism arranged in the array of processing tables can adapt to the bottom surface of workpieces with irregular curved surfaces and height differences through spring self-extension and extension, so as to achieve non-destructive flexible support and avoid the problem of deformation when clamping thin-walled parts and irregular-shaped parts. With the quick-adjustable manual clamp, it can quickly complete the clamping and fixing of workpieces of different shapes.

[0059] 3. The two sets of workpiece positioning mechanisms are suitable for everything from small precision parts to large long workpieces, eliminating the need to customize special tooling for different workpieces, effectively reducing tooling development costs and changeover time.

[0060] Other additional advantages and benefits of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0061] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0062] Figure 1 This is a schematic diagram of the structure of the present invention;

[0063] Figure 2 This is a schematic diagram of the isometric structure of the workpiece positioning mechanism in this invention;

[0064] Figure 3 This is a schematic diagram of the isometric structure of the positioning unit in this invention;

[0065] Figure 4 For the present invention Figure 3 Enlarged schematic diagram of the flexible support mechanism in the diagram;

[0066] Figure 5 For the present invention Figure 3 A magnified schematic diagram of the linkage mechanism in the diagram;

[0067] Figure 6 This is a schematic diagram of the isometric structure of the welding mechanism in this invention;

[0068] Figure 7 This is an exploded structural diagram of the linkage component in this invention;

[0069] Figure 8 This is a schematic diagram of the isometric structure of the manual clamp in this invention.

[0070] In the diagram: 1. Positioning unit; 11. Support base;

[0071] 12. Workpiece positioning mechanism; 121. Rotating platform; 122. Machining table;

[0072] 123. Flexible support mechanism; 1231. Support pin; 1232. Flexible support head; 1233. Limiting ring; 1234. Telescopic spring; 1235. First locking nut;

[0073] 124. Manual clamp; 1241. Fixing base; 1242. Handle; 1243. Clamp arm; 1244. First oblong hole; 1245. Clamping plate; 1246. Threaded rod; 1247. Flexible pressure block; 1248. Clamping nut; 1249. H-type connecting arm;

[0074] 125. Servo electric cylinder; 126. Ball joint;

[0075] 127. Y-axis drive mechanism; 1271. First moving stage; 1272. First nut seat; 1273. First motor frame; 1274. First threaded screw; 1275. First servo motor;

[0076] 128. X-axis drive mechanism; 1281. Second moving stage; 1282. Second nut seat; 1283. Second motor frame; 1284. Second threaded screw; 1285. Second servo motor;

[0077] 129. Rotary drive mechanism; 1291. External gear ring; 1292. Third servo motor; 1293. Gear;

[0078] 13. Guide rail; 14. Guide slider;

[0079] 15. Linkage mechanism; 151. Synchronous pulley; 152. Synchronous belt;

[0080] 16. Linkage component; 161. First transmission rod; 1611. Square connecting groove; 1612. Positioning hole; 162. Universal joint; 163. Second transmission rod; 164. Square connecting rod; 1641. Second oblong hole; 165. Bolt; 166. Second locking nut;

[0081] 2. Dual-drive gantry three-axis translation mechanism; 21. Gantry frame; 22. X-axis dual-drive linear module; 23. Y-axis linear module; 24. Z-axis linear module;

[0082] 3. Six-degree-of-freedom robotic arm;

[0083] 4. Welding mechanism; 41. Fixing frame; 42. Laser head; 43. Laser rangefinder sensor; 44. Adjustable mounting plate; 45. Vision camera; 46. Ring light source; 47. Limiting plate; 48. Third threaded screw; 481. Knob; 49. Third nut seat;

[0084] 5. CNC box. Detailed Implementation

[0085] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0086] Example 1

[0087] Please see Figures 1-8 The present invention provides the following technical solution: a laser welding machine capable of multi-directional welding, comprising a positioning unit 1, a dual-drive gantry three-axis translation mechanism 2, a six-degree-of-freedom robotic arm 3, a welding mechanism 4, and a CNC box 5.

[0088] Depend on Figure 1 As shown in this embodiment, the positioning unit 1 includes a support base 11 and two sets of workpiece positioning mechanisms 12 symmetrically arranged on the support base 11. Each set of workpiece positioning mechanisms 12 has at least three translational degrees of freedom, at least one rotational degree of freedom, and at least one pitch and swing degree of freedom. The top of the workpiece positioning mechanism 12 is provided with multiple sets of flexible support mechanisms 123 arranged in a linear array and manual clamps 124. The six-degree-of-freedom robotic arm 3 is installed at the power output end of the dual-drive gantry three-axis translation mechanism 2 and is used to complete the spatial translation and positioning of the welding station. The welding mechanism 4 is installed at the power output end of the six-degree-of-freedom robotic arm 3 and is used to complete the six-degree-of-freedom adjustment of the welding posture. The CNC box 5 has a built-in PLC controller and motion control card, which are electrically connected to the workpiece positioning mechanism 12, the dual-drive gantry three-axis translation mechanism 2, the six-degree-of-freedom robotic arm 3, and the welding mechanism 4, respectively, to realize the coordinated motion control of each mechanism and the adjustment of welding parameters.

[0089] Specifically, this invention utilizes a dual-end multi-degree-of-freedom collaborative architecture that combines six-degree-of-freedom attitude adjustment at the workpiece end with six-degree-of-freedom adjustment at the welding end. This allows for the completion of all weld seams on complex curved surfaces, irregular cavities, and multi-faceted welding workpieces with only one clamping operation, solving the problems of existing equipment requiring multiple clamping operations and having poor positioning accuracy.

[0090] Depend on Figures 1-4 As shown, in this embodiment, the flexible support mechanism 123 includes a support pin 1231, a flexible support head 1232, a telescopic spring 1234, and a first locking nut 1235. The support pin 1231 is slidably mounted on the processing table 122 in the vertical direction, and the flexible support head 1232 is fixed to the top of the support pin 1231. A limit ring 1233 is fixed on the support pin 1231, and the telescopic spring 1234 is sleeved on the outside of the support pin 1231 and is located between the processing table 122 and the limit ring 1233. The support pin 1231 is machined with external threads, and the first locking nut 1235 is threadedly installed on the lower end of the support pin 1231.

[0091] In this embodiment, the pre-adjustment and locking process of the flexible support mechanism 123 is as follows: In the initial state, the telescopic spring 1234 is in a naturally extended state, and the support pin 1231 extends upward under the elastic force of the telescopic spring 1234; the workpiece is placed above the processing table 122, and the bottom surface of the workpiece contacts each flexible support head 1232. The support pins 1231 at different positions adaptively compress the telescopic spring 1234 downward according to the curved shape and height difference of the bottom surface of the workpiece, so that all flexible support heads 1232 are tightly attached to the bottom surface of the workpiece; then, each first locking nut 1235 is tightened to fix the support pin 1231 relative to the processing table 122, thus completing the locking of the flexible support.

[0092] For example, the flexible support mechanism 123 on the processing table 122 is arranged in a 3×3 linear array, and the center distance between adjacent flexible support mechanisms 123 is 100mm; the manual clamps 124 are evenly arranged around the processing table 122, and there are four of them. The installation position and number of the manual clamps 124 can be flexibly adjusted according to the shape and size of the workpiece.

[0093] It should be noted that in this embodiment, the flexible support head 1232 is made of polyurethane material of Shore A60-70, and the telescopic spring 1234 has a wire diameter of 1.2mm, a free length of 50mm, and a rated load of 50N, which can achieve non-destructive support for thin-walled parts and irregularly shaped parts and avoid clamping deformation.

[0094] Depend on Figure 1 and Figure 2 As shown in this embodiment, each workpiece positioning mechanism 12 includes a rotating platform 121, a processing table 122 mounted above the rotating platform 121 via a multi-directional pitch adjustment mechanism, a Y-axis drive mechanism 127, an X-axis drive mechanism 128, and a rotary drive mechanism 129; a flexible support mechanism 123 and a manual clamp 124 are mounted in a linear array on the processing table 122; the Y-axis drive mechanism 127 is mounted on the support base 11, the X-axis drive mechanism 128 is mounted on the power output end of the Y-axis drive mechanism 127, and the rotary drive mechanism 129 is mounted on the power output end of the X-axis drive mechanism 128; the Y-axis drive mechanism 127 and the X-axis drive mechanism 128 are used to provide two orthogonal horizontal translational degrees of freedom for the rotating platform 121, the rotary drive mechanism 129 is used to provide the rotational degree of freedom of the rotating platform 121 about the vertical axis, and the multi-directional pitch adjustment mechanism is used to provide the pitch swing degree of freedom and the Z-axis translational degree of freedom for the processing table 122 about the horizontal axis.

[0095] In this embodiment, the multi-degree-of-freedom adjustment logic of the workpiece positioning mechanism 12 is as follows: the Y-axis drive mechanism 127 drives the X-axis drive mechanism 128 and all components above it to translate along the Y-axis; the X-axis drive mechanism 128 drives the rotary drive mechanism 129 and all components above it to translate along the X-axis; the rotary drive mechanism 129 drives the rotating platform 121 to rotate around the Z-axis; the multi-directional pitch adjustment mechanism realizes the lifting and lowering of the processing table 122 along the Z-axis and the pitch swing around the X-axis and Y-axis through the differential motion of three servo electric cylinders 125, so that the workpiece can be adjusted to any spatial posture and cooperate with the welding mechanism 4 to complete omnidirectional welding.

[0096] Depend on Figure 1 and Figure 2 As shown, in this embodiment, the Y-axis drive mechanism 127 includes a first moving platform 1271, a first nut seat 1272, a first motor frame 1273, a first threaded screw 1274, and a first servo motor 1275. The first nut seat 1272 is fixed to the center of the bottom surface of the first moving platform 1271. Two first motor frames 1273 are symmetrically fixed to the top of the support base 11. The first threaded screw 1274 is rotatably installed between the two first motor frames 1273 and threadedly engaged with the first nut seat 1272. The first servo motor 1275 is fixed on the first motor frame 1273 and is used to drive the first threaded screw 1274 to rotate.

[0097] Specifically, the first servo motor 1275 receives the control signal from the CNC box 5 and drives the first threaded screw 1274 to rotate. The rotational motion is converted into the linear motion of the first moving table 1271 through the first nut seat 1272, thereby realizing the Y-axis translation.

[0098] In this embodiment, the first threaded lead screw 1274 is a ground lead screw with a precision grade of C5, a lead of 10mm, and a Y-axis translational stroke of 1000mm.

[0099] Depend on Figure 1 and Figure 2 As shown, in this embodiment, the X-axis drive mechanism 128 includes a second moving platform 1281, a second nut seat 1282, a second motor frame 1283, a second threaded screw 1284, and a second servo motor 1285. The second nut seat 1282 is fixed to the center of the bottom surface of the second moving platform 1281. Two second motor frames 1283 are symmetrically fixed to the top of the first moving platform 1271. The second threaded screw 1284 is rotatably installed between the two second motor frames 1283 and threadedly engaged with the second nut seat 1282. The second servo motor 1285 is fixed on the second motor frame 1283 and is used to drive the second threaded screw 1284 to rotate.

[0100] Specifically, the second servo motor 1285 receives the control signal from the CNC box 5 and drives the second threaded screw 1284 to rotate. The rotational motion is converted into the linear motion of the second moving table 1281 through the second nut seat 1282, thereby realizing X-axis translation.

[0101] In this embodiment, the second threaded lead screw 1284 is a ground lead screw with a precision grade of C5, a lead of 10mm, and an X-axis translational stroke of 800mm.

[0102] Depend on Figure 1 and Figure 2 As shown, in this embodiment, the rotary drive mechanism 129 includes an external gear ring 1291, a third servo motor 1292, and a gear 1293; the rotating platform 121 is rotatably mounted on the top surface of the second moving platform 1281, and the external gear ring 1291 is coaxially fixed on the outer peripheral surface of the rotating platform 121; the third servo motor 1292 is fixed on the top surface of the second moving platform 1281, and the gear 1293 is coaxially fixed on the output shaft of the third servo motor 1292 and meshes with the external gear ring 1291.

[0103] Specifically, the third servo motor 1292 receives the control signal from the CNC box 5 and drives the gear 1293 to rotate. Through the meshing transmission between the gear 1293 and the external gear ring 1291, the rotating platform 121 is driven to rotate around the Z-axis.

[0104] In this embodiment, the external gear ring 1291 has a module of 2 and a number of teeth of 100, the gear 1293 has a module of 2 and a number of teeth of 20, and the transmission ratio is 5:1.

[0105] Depend on Figure 1 and Figure 2 As shown in this embodiment, the multi-directional pitch adjustment mechanism includes a servo cylinder 125 and a ball joint 126; at least three servo cylinders 125 are evenly distributed circumferentially, the cylinder body of the servo cylinder 125 is hinged to the rotating platform 121 by a pin, and the piston rod is connected to the processing table 122 by the ball joint 126.

[0106] In use, the three servo cylinders 125 independently receive control signals from the CNC box 5, and achieve multi-degree-of-freedom adjustment of the machining table 122 through different combinations of extension and retraction: when the three servo cylinders 125 extend and retract synchronously, the machining table 122 translates along the Z-axis; when one servo cylinder 125 extends and retracts while the other two remain stationary, the machining table 122 swings around the line connecting the other two servo cylinders 125; when two servo cylinders 125 extend and retract synchronously while the third remains stationary, the machining table 122 swings around the line connecting the third servo cylinder 125 and the center of the machining table 122.

[0107] In this embodiment, the stroke of the servo electric cylinder 125 is 100mm, the Z-axis translation stroke is 100mm, and the pitch swing angle range is ±45°.

[0108] Depend on Figures 1-3 , Figure 5 and Figure 7 As shown, this embodiment also includes a linkage mechanism 15 and a linkage component 16. The linkage mechanism 15 includes a synchronous pulley 151 and a synchronous belt 152. The linkage component 16 includes a first transmission rod 161, a universal joint 162, a second transmission rod 163, a square connecting rod 164, a bolt 165, and a second locking nut 166. The first threaded screws 1274 of the two sets of workpiece positioning mechanisms 12 have opposite thread directions, and the ends of the two first threaded screws 1274 are coaxially fixed with synchronous pulleys 151. The synchronous belt 152 is tensioned through the two synchronous pulleys 151. The second threaded screws 1284 of the two sets of workpiece positioning mechanisms 12 have opposite thread directions. One end of the transmission rod 161 is provided with a square connecting groove 1611, and the other end is connected to the end of one of the second threaded screws 1284 through a universal joint 162; one end of the second transmission rod 163 is fixed with a square connecting rod 164 that is adapted to the square connecting groove 1611, and the other end is connected to the end of another second threaded screw 1284 through a universal joint 162; the first transmission rod 161 is provided with a positioning hole 1612, the square connecting rod 164 is provided with a second oblong hole 1641, the bolt 165 passes through the positioning hole 1612 and the second oblong hole 1641, and the second locking nut 166 is threaded onto the protruding end of the bolt 165.

[0109] The linkage mechanism 15 and the linkage component 16 are used to realize the synchronous movement of the two sets of workpiece positioning mechanisms 12. The specific operation process is as follows:

[0110] A. Synchronous Y-axis motion: The synchronous belt 152 is tensioned on two synchronous pulleys 151. When one of the first servo motors 1275 drives the corresponding first threaded screw 1274 to rotate, the other first threaded screw 1274 is driven to rotate synchronously through the transmission between the synchronous pulley 151 and the synchronous belt 152. Since the threads of the two first threaded screws 1274 are opposite, the two processing tables 122 achieve synchronous reverse Y-axis motion.

[0111] B. Insert the square connecting rod 164 into the square connecting groove 1611, adjust the insertion depth so that the length of the linkage 16 matches the spacing of the two second threaded screws 1284, insert the bolt 165 through the positioning hole 1612 and the second oblong hole 1641, and tighten the second locking nut 166 to complete the rigid connection of the linkage 16; when one of the second servo motors 1285 drives the corresponding second threaded screw 1284 to rotate, the other second threaded screw 1284 will rotate synchronously through the linkage 16. Since the threads of the two second threaded screws 1284 are opposite, the two processing tables 122 achieve synchronous reverse X-axis movement.

[0112] The linkage mechanism 15 and the linkage component 16 enable the two sets of workpiece positioning mechanisms 12 to move synchronously in opposite directions along the Y and X directions, which is used to adjust the initial distance and initial relative position of the two sets of workpiece positioning mechanisms 12 and is suitable for different processing scenarios.

[0113] It should be noted that when the two processing tables 122 achieve synchronous reverse Y-axis movement, the linkage 16 is always in a state with telescopic compensation capability. Its telescopic design can effectively avoid motion interference, and the universal joints 162 connected at both ends ensure that the power can be transmitted from the first second threaded screw 1284 to the other second threaded screw 1284.

[0114] Specifically, since the synchronous reverse Y-axis movement is driven by the Y-axis drive mechanism 127 through the synchronous belt 152, and the X-axis drive mechanism 128 is not activated, the relative distance between the two processing tables 122 in the X-axis is theoretically unchanged. However, the two processing tables 122 move synchronously in the opposite Y-axis under the linkage drive of the synchronous belt 152. When the two processing tables 122 approach each other along the Y-axis, the first transmission rod 161 and the second transmission rod 163 will twist in the positive direction. At the same time, the square connecting rod 164 moves further toward the inside of the square connecting groove 1611. The square connecting rod 164 drives the second waist-shaped hole 1641 to move relative to the bolt 165. The cooperation between the bolt 165 and the second waist-shaped hole 1641 can limit the relative movement range of the first transmission rod 161 and the second transmission rod 163, and avoid excessive movement.

[0115] Conversely, when the two processing tables 122 move away from each other along the Y direction, the first transmission rod 161 and the second transmission rod 163 will twist in opposite directions, and the square connecting rod 164 will move toward the outside of the square connecting groove 1611.

[0116] The square design of the square connecting rod 164 and the square connecting groove 1611, together with the limiting guide of the bolt 165 and the design of the universal joint 162, ensures that power can be transmitted from the first second threaded screw 1284 to the other second threaded screw 1284, ensuring that the two second threaded screws 1284 rotate synchronously.

[0117] Specifically, when the two sets of workpiece positioning mechanisms 12 achieve mechanical linkage through the linkage mechanism 15 and the linkage component 16, a single servo motor can drive the two processing tables 122 to move synchronously toward the center or separate to both sides. There is no need to set up an additional reverse transmission mechanism, which simplifies the transmission structure, reduces the probability of electrical failure, and reduces the control complexity.

[0118] Depend on Figure 1As shown, in this embodiment, the dual-drive gantry three-axis translation mechanism 2 includes a gantry frame 21, an X-axis dual-drive linear module 22, a Y-axis linear module 23, and a Z-axis linear module 24; the X-axis dual-drive linear module 22 is fixed to the top of the gantry frame 21, the Y-axis linear module 23 is fixed to the power output end of the X-axis dual-drive linear module 22, the Z-axis linear module 24 is fixed to the power output end of the Y-axis linear module 23, and the six-degree-of-freedom robotic arm 3 is fixed to the power output end of the Z-axis linear module 24.

[0119] Specifically, the dual-drive gantry three-axis translation mechanism 2 is used to realize the large-range spatial translation and positioning of the six-degree-of-freedom robotic arm 3: the X-axis dual-drive linear module 22 adopts dual servo motors for synchronous drive to avoid torsional deformation of the gantry beam, with an X-axis travel of 2000mm; the Y-axis linear module 23 drives the Z-axis linear module 24 to translate along the Y-axis, with a Y-axis travel of 1500mm; the Z-axis linear module 24 drives the six-degree-of-freedom robotic arm 3 to rise and fall along the Z-axis, with a Z-axis travel of 1000mm.

[0120] For example, the support base 11 is made of HT250 gray cast iron, the gantry 21 is welded from Q355B steel plate, and the six-degree-of-freedom robotic arm 3 has a rated load of 10kg and a working radius of 1500mm, which can meet the needs of most laser welding scenarios.

[0121] Depend on Figure 1 and Figure 6 As shown, in this embodiment, the welding mechanism 4 includes a fixed frame 41, a laser head 42, a laser rangefinder 43, an adjustable mounting plate 44, a vision camera 45, a ring light source 46, a limiting plate 47, and a third threaded rod 48. The fixed frame 41 is fixedly connected to the power output end of the six-degree-of-freedom robotic arm 3. The laser head 42 is fixed on the fixed frame 41, and the laser rangefinder 43 is fixed on the outer shell of the laser head 42. The adjustable mounting plate 44 is mounted on the fixed frame 41 and can slide vertically. The vision camera 45 and the ring light source 46 are both fixed on the adjustable mounting plate 44, and the ring light source 46 is located on the shooting path of the vision camera 45. Two limiting plates 47 are fixed at intervals to the outer wall of the fixed frame 41. The third threaded rod 48 is rotatably mounted between the two limiting plates 47, and a knob 481 is fixed to one end of the third threaded rod 48. A third nut seat 49 is fixed on the adjustable mounting plate 44, and the third nut seat 49 is threadedly engaged with the third threaded rod 48.

[0122] During use, the pre-adjustment and welding process of welding mechanism 4 are as follows:

[0123] A. Vision system pre-adjustment: Rotate knob 481 to drive the third threaded screw 48 to rotate, and drive the adjustable mounting plate 44 to slide up and down through the third nut seat 49 to adjust the height of vision camera 45 and ring light source 46 so that the workpiece surface is within the optimal focus range of vision camera 45.

[0124] B. Automatic weld positioning: The ring light source 46 emits uniform ring light to illuminate the workpiece surface, eliminating reflection interference. The vision camera 45 captures the workpiece image and transmits it to the CNC box 5. The CNC box 5 identifies the position, shape and direction of the weld through edge detection and feature extraction algorithms, and generates the initial welding path.

[0125] C. The laser range sensor 43 detects the distance between the laser head 42 and the workpiece surface in real time and transmits the distance signal to the CNC box 5. The CNC box 5 automatically adjusts the Z-axis linear module 24 and the Z-axis position of the six-degree-of-freedom robotic arm 3 so that the laser head 42 always maintains the optimal welding focal length (15mm in this embodiment, and the laser head 42 is a continuous fiber laser head 42 with a power of 1500W).

[0126] D. The six-degree-of-freedom robotic arm 3 drives the welding mechanism 4 to move along the planned path. At the same time, the workpiece positioning mechanism 12 adjusts the workpiece posture to ensure that the laser beam is always perpendicular to the weld surface, thus ensuring uniform welding penetration and beautiful weld formation.

[0127] For example, the welding parameters for workpieces of different materials are as follows: when welding 304 stainless steel sheet with a thickness of 1mm, the output power of laser head 42 is 800-1000W, the welding speed is 30-50mm / s, and the defocusing amount is +1mm; when welding 6061 aluminum alloy sheet with a thickness of 3mm, the output power of laser head 42 is 1200-1500W, the welding speed is 20-30mm / s, and the defocusing amount is 0mm; when welding Q235 carbon steel sheet with a thickness of 2mm, the output power of laser head 42 is 600-800W, the welding speed is 40-60mm / s, and the defocusing amount is -1mm.

[0128] Depend on Figure 1 , Figure 2 and Figure 8As shown, in this embodiment, the manual clamp 124 includes a fixed base 1241, a handle 1242, a clamp arm 1243, a first oblong hole 1244, a clamping plate 1245, a threaded rod 1246, a clamping nut 1248, and an H-shaped connecting arm 1249. The fixed base 1241 is fixed on the processing table 122, and the bottom end of the handle 1242 is hinged to the fixed base 1241 by a pin. One end of the clamp arm 1243 is hinged to the fixed base 1241 by a pin, and the clamp arm 1243 is provided with a first oblong hole. 1244; Two clamping plates 1245 are distributed in a clamping manner on the upper and lower sides of the clamp arm 1243. The threaded rod 1246 passes through the two clamping plates 1245 and the first waist-shaped hole 1244 in a vertical direction, and a flexible pressure block 1247 is fixed at the bottom end of the threaded rod 1246. Clamping nuts 1248 with threads installed on the threaded rod 1246 are distributed on the outer side of the two clamping plates 1245. One end of the H-shaped connecting arm 1249 is hinged to the handle 1242 by a pin, and the other end is hinged to the clamp arm 1243 by a pin.

[0129] In this embodiment, the adjustment and clamping process of the manual clamp 124 is as follows: Loosen the two clamping nuts 1248, adjust the horizontal position of the threaded rod 1246 in the first oblong hole 1244, and the vertical height of the threaded rod 1246 relative to the clamp arm 1243, so that the flexible pressure block 1247 is aligned with the clamping position of the workpiece; then tighten the two clamping nuts 1248 to fix the threaded rod 1246 and the clamp arm 1243 relative to each other; turn the handle 1242 upward, push the clamp arm 1243 downward through the H-shaped connecting arm 1249, and use the dead point characteristic of the four-bar linkage to achieve self-locking clamping, so that the flexible pressure block 1247 presses the surface of the workpiece.

[0130] In this embodiment, the flexible clamping block 1247 is made of nitrile rubber, which can prevent scratching the surface of the workpiece when clamping. The maximum clamping force of a single manual clamp 124 is 200N.

[0131] Depend on Figure 1 , Figure 2 and Figure 6 As shown in this embodiment, guide rails 13 are fixed on the top surface of the support base 11, the top surface of the first moving platform 1271, and the fixed frame 41. Guide sliders 14 that slide in cooperation with guide rails 13 are fixed on the bottom surface of the first moving platform 1271, the bottom surface of the second moving platform 1281, and the adjustable mounting plate 44. With the above solution, when in use, the cooperation between guide rails 13 and guide sliders 14 provides linear guidance for each moving part, ensuring the stability and accuracy of the movement.

[0132] In this embodiment, the guide rail 13 is a linear guide rail with a precision grade of H, and the guide slider 14 is a ball slider with a friction coefficient of less than 0.005 to ensure smooth movement.

[0133] This embodiment has the following workflow:

[0134] Step 1: Connect the power supply, start the CNC box 5, each mechanism performs the zero return operation, confirm that all motion axes are at the origin position, and check the working status of the laser head 42, vision system and each sensor;

[0135] Step 2: Place the workpiece to be welded on one of the processing tables 122. The flexible support mechanism 123 adapts to the bottom surface of the workpiece. Tighten the first locking nut 1235 to complete the support locking. Adjust the position and height of the manual clamp 124 and pull the handle 1242 to clamp the workpiece.

[0136] Step 3: The CNC box 5 controls the dual-drive gantry three-axis translation mechanism 2 to move the six-degree-of-freedom robotic arm 3 above the workpiece. The vision camera 45 captures the workpiece image, extracts weld features, and generates the welding path. At the same time, the laser range sensor 43 scans the workpiece surface height to complete the focal length calibration and establish the workpiece coordinate system.

[0137] Step 4: According to the welding path, the CNC box 5 uses an interpolation algorithm to plan the coordinated motion trajectory of the dual-drive gantry three-axis translation mechanism 2, the six-degree-of-freedom robotic arm 3, and the workpiece positioning mechanism 12, so that the laser head 42 moves at a constant speed along the weld seam trajectory. At the same time, the laser head 42 emits laser to complete the welding. During the welding process, the workpiece positioning mechanism 12 adjusts the workpiece posture in real time so that the laser beam is always perpendicular to the weld seam surface.

[0138] Step 5: After welding is completed, the laser head 42 is turned off, all mechanisms are reset to the safe position, the handle 1242 of the manual clamp 124 is pulled to release the workpiece, and the welded workpiece is removed.

[0139] Example 2

[0140] This embodiment is basically the same in structure as Embodiment 1, except that it is designed for welding large long workpieces with a length greater than the length of a single processing table 122, as detailed below:

[0141] When welding large long workpieces (such as long profiles, long pipes, long sheet metal parts, etc. with a length of 1500-3000mm), place both ends of the workpiece on two processing tables 122 respectively. The flexible support mechanisms 123 on the two processing tables 122 adaptively fit the bottom surfaces of both ends of the workpiece. Tighten the first locking nut 1235 to complete the support locking. Adjust the manual clamps 124 on the two processing tables 122 respectively to clamp both ends of the workpiece to ensure that the workpiece is firmly clamped.

[0142] Installing the linkage 16 enables the two sets of workpiece positioning mechanisms 12 to move synchronously. The distance between the two processing tables 122 can be adjusted by the X-axis drive mechanism 128 to accommodate large long workpieces of different lengths.

[0143] It should be noted that, in this embodiment, a timing belt 152 may be selectively installed to adjust the initial relative position of the two processing tables 122 in a coordinated manner, ensuring that the two processing tables 122 are aligned and that the two ends of the large long workpiece can be reliably attached to the two processing tables 122, thus avoiding misalignment of the two processing tables 122 from affecting the clamping of the workpiece.

[0144] In addition, the two sets of multi-directional pitch adjustment mechanisms are adjusted synchronously to keep the long workpiece horizontal and in a consistent posture, thus preventing the long workpiece from twisting and deforming.

[0145] The dual-drive gantry three-axis translation mechanism 2 drives the six-degree-of-freedom robotic arm 3 to move along the length of the long workpiece, and sequentially completes the welding of all welds on the long workpiece; during the welding process, the six-degree-of-freedom robotic arm 3 and the workpiece positioning mechanism 12 work together to achieve multi-directional welding of the entire surface of the long workpiece.

[0146] This embodiment achieves stable support and omnidirectional welding of large and long workpieces through the synchronous linkage of two sets of workpiece positioning mechanisms 12, eliminating the need for customized special tooling for long workpieces and significantly reducing production costs and changeover time.

[0147] Example 3

[0148] This embodiment is basically the same in structure as Embodiment 1, except that, for welding scenarios involving multiple varieties and small batches of workpieces, the two sets of workpiece positioning mechanisms 12 operate independently, welding different workpieces respectively, as detailed below:

[0149] When two workpieces of different specifications and welding processes need to be welded at the same time, the linkage 16 is removed and the timing belt 152 is taken off, and the mechanical linkage between the two sets of workpiece positioning mechanisms 12 is released, so that the two sets of workpiece positioning mechanisms 12 become two completely independent welding platforms (the timing belt 152 and linkage 16 can also be retained, but in this embodiment, it is not necessary to start the first servo motor 1275 and the second servo motor 1285 to adjust the X and Y directions of the processing table 122).

[0150] The first workpiece is placed on the left processing table 122, and clamping, weld identification and welding are completed according to the steps described in Example 1; while the workpiece on the left is being welded, the operator can clamp and pre-position the second workpiece on the right processing table 122.

[0151] After the welding of the workpiece on the left is completed, the CNC box 5 automatically controls the dual-drive gantry three-axis translation mechanism 2 to move the six-degree-of-freedom robotic arm 3 to the right processing table 122 to start the welding of the second workpiece; at this time, the operator can remove the workpiece that has been welded on the left and clamp the third workpiece to achieve parallel operation and high processing efficiency.

[0152] In this embodiment, the two sets of workpiece positioning mechanisms 12 can be independently set with different motion parameters, welding parameters and welding paths, without interfering with each other. They can simultaneously adapt to workpieces of different shapes, materials and welding requirements, and are suitable for flexible production scenarios with multiple varieties and small batches.

[0153] Example 4

[0154] This embodiment is basically the same as the structure of embodiment 1, except that, for the workpiece butt welding scenario, the two sets of workpiece positioning mechanisms 12 work together to weld the two workpieces together, as detailed below:

[0155] When welding the butt joint of two workpieces (such as profile butt joint, plate butt joint, pipe fitting butt joint, box splicing, etc.), the first workpiece is clamped on the left processing table 122 and the second workpiece is clamped on the right processing table 122, and the flexible support locking and manual clamping 124 are completed respectively.

[0156] The CNC box 5 starts the first servo motor 1275 and the second servo motor 1285 respectively. Through the linkage mechanism 15 and the linkage component 16, the two sets of workpiece positioning mechanisms 12 move synchronously in opposite directions along the Y and X directions, and adjust the initial distance and initial relative position of the two sets of workpiece positioning mechanisms 12 to make the two workpieces accurately dock.

[0157] The vision camera 45 captures images of the mating surfaces, and the CNC box 5 automatically fine-tunes the relative positions of the two workpieces until the mating accuracy meets the welding requirements.

[0158] The dual-drive gantry three-axis translation mechanism 2 drives the six-degree-of-freedom robotic arm 3 to move along the butt weld seam and complete the welding operation of the butt weld seam. During the welding process, the two sets of workpiece positioning mechanisms 12 can coordinate to adjust the posture of the workpiece, and the six-degree-of-freedom robotic arm 3 adjusts the posture of the welding mechanism 4 so that the laser beam is always perpendicular to the surface of the butt weld seam, ensuring uniform welding penetration and beautiful weld seam formation.

[0159] In addition, this embodiment can also be used for welding other connection forms such as corner joint, lap joint, and T-joint of two workpieces. Only the relative posture of the two workpieces needs to be adjusted, and there is no need to change the special tooling.

[0160] It should be noted that the servo electric cylinder 125, the six-degree-of-freedom robotic arm 3, the laser head 42, the laser rangefinder 43, the vision camera 45, the ring light source 46, and each servo motor described in this invention are all commercially available conventional equipment with built-in power switches. Those skilled in the art can make conventional selections according to their needs. Their working principles are common knowledge known to those skilled in the art and have been fully disclosed in the prior art, so they will not be elaborated further in this article.

[0161] The circuit connection involved in this invention is a conventional method used by those skilled in the art, and technical inspiration can be obtained through a limited number of experiments. It belongs to the widely used prior art.

[0162] Components not described in detail in this article are existing technologies.

[0163] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A laser welding machine capable of multi-directional welding, characterized in that: It includes a positioning unit (1), a dual-drive gantry three-axis translation mechanism (2), a six-degree-of-freedom robotic arm (3), a welding mechanism (4), and a CNC box (5); The positioning unit (1) includes a support base (11) and two sets of workpiece positioning mechanisms (12) symmetrically arranged on the support base (11). Each set of workpiece positioning mechanisms (12) has at least three translational degrees of freedom, at least one rotational degree of freedom and at least one pitch and swing degree of freedom. The top of the workpiece positioning mechanism (12) is provided with multiple sets of flexible support mechanisms (123) arranged in a linear array and manual clamps (124). The six-degree-of-freedom robotic arm (3) is installed at the power output end of the dual-drive gantry three-axis translation mechanism (2) and is used to complete the spatial translation and positioning of the welding station. The welding mechanism (4) is installed at the power output end of the six-degree-of-freedom robotic arm (3) and is used to complete the six-degree-of-freedom adjustment of the welding posture; The CNC box (5) is electrically connected to the workpiece positioning mechanism (12), the dual-drive gantry three-axis translation mechanism (2), the six-degree-of-freedom robotic arm (3), and the welding mechanism (4), respectively.

2. A multi-directional laser welder as claimed in claim 1, wherein: The flexible support mechanism (123) includes a support pin (1231), a flexible support head (1232), a telescopic spring (1234), and a first locking nut (1235). The support pin (1231) is slidably mounted on the processing table (122) in the vertical direction, and the flexible support head (1232) is fixed to the top of the support pin (1231); A limiting ring (1233) is fixed on the support pin (1231), and the telescopic spring (1234) is sleeved on the outside of the support pin (1231) and located between the processing table (122) and the limiting ring (1233); The support pin (1231) is machined with external threads, and the first locking nut (1235) is threadedly installed on the lower end of the support pin (1231).

3. The multi-directional laser welding machine according to claim 1, characterized in that: Each of the workpiece positioning mechanisms (12) includes a rotating platform (121), a processing table (122) located above the rotating platform (121) via a multi-directional pitch adjustment mechanism, a Y-axis drive mechanism (127), an X-axis drive mechanism (128), and a rotary drive mechanism (129). The flexible support mechanism (123) and the manual clamp (124) are mounted in a linear array on the processing table (122); The Y-axis drive mechanism (127) is mounted on the support base (11), the X-axis drive mechanism (128) is mounted on the power output end of the Y-axis drive mechanism (127), and the rotary drive mechanism (129) is mounted on the power output end of the X-axis drive mechanism (128). The Y-axis drive mechanism (127) and the X-axis drive mechanism (128) are used to provide two orthogonal horizontal translational degrees of freedom for the rotating platform (121), the rotary drive mechanism (129) is used to provide the rotary degree of freedom of the rotating platform (121) about the vertical axis, and the multi-directional pitch adjustment mechanism is used to provide the pitch swing degree of freedom of the processing table (122) about the horizontal axis.

4. A multi-directional laser welding machine according to claim 3, characterized in that: The Y-axis drive mechanism (127) includes a first moving stage (1271), a first nut seat (1272), a first motor frame (1273), a first threaded screw (1274), and a first servo motor (1275). A first nut seat (1272) is fixed at the center of the bottom surface of the first moving platform (1271). Two first motor frames (1273) are symmetrically fixed on the top of the support base (11), and the first threaded screw (1274) is rotatably installed between the two first motor frames (1273) and threadedly engaged with the first nut seat (1272); The first servo motor (1275) is fixed on the first motor frame (1273) and is used to drive the first threaded screw (1274) to rotate.

5. A multi-directional laser welding machine according to claim 4, characterized in that: The X-axis drive mechanism (128) includes a second moving stage (1281), a second nut seat (1282), a second motor frame (1283), a second threaded screw (1284), and a second servo motor (1285). A second nut seat (1282) is fixed at the center of the bottom surface of the second moving stage (1281). Two second motor frames (1283) are symmetrically fixed on the top of the first moving platform (1271), and the second threaded screw (1284) is rotatably installed between the two second motor frames (1283) and threadedly engaged with the second nut seat (1282); The second servo motor (1285) is fixed on the second motor frame (1283) and is used to drive the second threaded screw (1284) to rotate.

6. A multi-directional laser welding machine according to claim 5, characterized in that: The rotary drive mechanism (129) includes an external gear ring (1291), a third servo motor (1292), and a gear (1293). The rotating platform (121) is rotatably mounted on the top surface of the second moving platform (1281), and the external gear ring (1291) is coaxially fixed on the outer circumferential surface of the rotating platform (121). The third servo motor (1292) is fixed on the top surface of the second moving platform (1281), and the gear (1293) is coaxially fixed on the output shaft of the third servo motor (1292) and meshes with the external gear ring (1291).

7. A multi-directional laser welding machine according to claim 6, characterized in that: The multi-directional pitch adjustment mechanism includes a servo electric cylinder (125) and a ball joint (126). At least three of the servo electric cylinders (125) are evenly distributed circumferentially. The cylinder body of the servo electric cylinder (125) is hinged to the rotating platform (121) by a pin, and the piston rod is connected to the processing table (122) by a ball joint (126).

8. A multi-directional laser welding machine according to claim 6, characterized in that: It also includes a linkage mechanism (15) and a linkage component (16). The linkage mechanism (15) includes a synchronous pulley (151) and a synchronous belt (152). The linkage component (16) includes a first transmission rod (161), a universal joint (162), a second transmission rod (163), a square connecting rod (164), a bolt (165), and a second locking nut (166). The first threaded screws (1274) of the two sets of workpiece positioning mechanisms (12) have opposite thread directions, and the ends of the two first threaded screws (1274) are coaxially fixed with synchronous pulleys (151), and the synchronous belt (152) is tensioned through the two synchronous pulleys (151); The second threaded screws (1284) of the two sets of workpiece positioning mechanisms (12) have opposite thread directions. One end of the first transmission rod (161) is provided with a square connecting groove (1611), and the other end is connected to the end of one of the second threaded screws (1284) through a universal joint (162). One end of the second transmission rod (163) is fixed with a square connecting rod (164) that is compatible with the square connecting groove (1611), and the other end is connected to the end of another second threaded rod (1284) through a universal joint (162); The first transmission rod (161) is provided with a positioning hole (1612), the square connecting rod (164) is provided with a second waist-shaped hole (1641), the bolt (165) passes through the positioning hole (1612) and the second waist-shaped hole (1641), and the second locking nut (166) is threaded onto the protruding end of the bolt (165).

9. A multi-directional laser welding machine according to claim 1, characterized in that: The dual-drive gantry three-axis translation mechanism (2) includes a gantry frame (21), an X-axis dual-drive linear module (22), a Y-axis linear module (23), and a Z-axis linear module (24). The X-axis dual-drive linear module (22) is fixed to the top of the gantry (21), the Y-axis linear module (23) is fixed to the power output end of the X-axis dual-drive linear module (22), the Z-axis linear module (24) is fixed to the power output end of the Y-axis linear module (23), and the six-degree-of-freedom robotic arm (3) is fixed to the power output end of the Z-axis linear module (24).

10. A multi-directional laser welding machine according to claim 1, characterized in that: The welding mechanism (4) includes a fixed frame (41), a laser head (42), a laser range sensor (43), an adjustable mounting plate (44), a vision camera (45), a ring light source (46), a limiting plate (47), and a third threaded screw (48). The fixed frame (41) is fixedly connected to the power output end of the six-degree-of-freedom robotic arm (3), the laser head (42) is fixed on the fixed frame (41), and the laser range sensor (43) is fixed on the outer shell of the laser head (42); The adjustable mounting plate (44) is mounted on the fixed frame (41) and can slide vertically. The visual camera (45) and the ring light source (46) are both fixed on the adjustable mounting plate (44), and the ring light source (46) is located on the shooting path of the visual camera (45). The two limiting plates (47) are fixed at intervals to the outer wall of the fixing frame (41), and the third threaded rod (48) is rotatably installed between the two limiting plates (47), and a knob (481) is fixed at one end of the third threaded rod (48). The adjustable mounting plate (44) is fixed with a third nut seat (49), and the third nut seat (49) is threadedly engaged with the third threaded screw (48).

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